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RC_pwm.c
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RC_pwm.c
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/*============================================================================*
___ ___ ___ _ _ *
/ \ | _ ) | _ \ ___ | |__ ___ | |_ o O O *
| - | | _ \ | / / _ \ | '_ \ / _ \ | _| o *
|_|_| |___/ |_|_\ \___/ |_.__/ \___/ _\__| TS__[O] *
_|"""""|_|"""""|_|"""""|_|"""""|_|"""""|_|"""""|_|"""""| {======| *
"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'./o--000' *
* *
* Auto Balance Robot controller firmware for Nuvoton Cortex M4 series *
* *
* Written by T.L. Shen for Nuvoton Technology. *
* tlshen@nuvoton.com/tzulan611126@gmail.com *
* *
*============================================================================*
*/
#include <stdio.h>
#ifdef M451
#include "M451Series.h"
#else
#include "DrvGPIO.h"
#endif
#include "Def.h"
#include "retarget.h"
#include "Timer_Ctrl.h"
#include "RC.h"
#ifdef M451
#define RX_PORTB_COUNT 6
#define IO_RC_D2 PB, BIT0
#define IO_RC_D4 PB, BIT1
#define IO_RC_D5 PB, BIT6
#define IO_RC_D6 PB, BIT3
#define IO_RC_D7 PB, BIT4
#define IO_RC_D8 PB, BIT5
#else
#define RX_PORTC_COUNT 2
#define RX_PORTB_COUNT 4
#define IO_RC_D2 E_GPC, 4
#define IO_RC_D4 E_GPC, 5
#define IO_RC_D5 E_GPB, 3
#define IO_RC_D6 E_GPB, 2
#define IO_RC_D7 E_GPB, 1
#define IO_RC_D8 E_GPB, 0
#endif
#ifdef M451
#define RX_PORTB_BITS (1<<0),(1<<1),(1<<6),(1<<3),(1<<4),(1<<5)
#else
#define RX_PORTC_BITS (1<<4),(1<<5)
#define RX_PORTB_BITS (1<<0),(1<<1),(1<<2),(1<<3)
#define RX_PIN_PORTB E_GPB
#define RX_PIN_PORTC E_GPC
static uint8_t RX_PORTC_PINS[RX_PORTC_COUNT] = {RX_PORTC_BITS};
#endif
uint16_t* rcValuePwm;
static uint8_t rcChannelPWM[RC_CHANS] = {ROLLPIN, PITCHPIN, YAWPIN, THROTTLEPIN, AUX1PIN,AUX2PIN};
static uint8_t RX_PORTB_PINS[RX_PORTB_COUNT] = {RX_PORTB_BITS};
#define RX_PIN_CHECK(pin_pos, rc_value_pos) \
if (mask & RX_PORT_PINS[pin_pos]) { \
if (!(pin & RX_PORT_PINS[pin_pos])) { \
dTime = cTime-edgeTime[pin_pos]; if (900<dTime && dTime<2200) rcValuePwm[rc_value_pos] = dTime; \
} else edgeTime[pin_pos] = cTime; \
}
#ifdef M451
void GPB_IRQHandler(void)
{
int32_t mask;
int32_t pin;
uint8_t *RX_PORT_PINS = RX_PORTB_PINS;
uint32_t cTime,dTime;
static uint32_t edgeTime[8];
mask = GPIO_GET_INT_FLAG(PB, BIT0|BIT1|BIT6|BIT3|BIT4|BIT5);
if(mask) {
GPIO_CLR_INT_FLAG(PB, mask);
}
else {
PB->INTSRC = PB->INTSRC;
//printf("Un-expected interrupts.\n");
}
pin = PB0|(PB1<<1)|(PB6<<6)|(PB3<<3)|(PB4<<4)|(PB5<<5);
cTime = micros();
RX_PIN_CHECK(0,AUX2PIN);
RX_PIN_CHECK(1,AUX1PIN);
RX_PIN_CHECK(2,YAWPIN);
RX_PIN_CHECK(3,PITCHPIN);
RX_PIN_CHECK(4,ROLLPIN);
RX_PIN_CHECK(5,THROTTLEPIN);
//printf("cTime:%d,dTime:%d\n",cTime,dTime);
}
#else
void GPABCallback(uint32_t u32GpaStatus, uint32_t u32GpbStatus)
{
int32_t mask;
int32_t pin;
uint8_t *RX_PORT_PINS = RX_PORTB_PINS;
uint32_t cTime,dTime;
static uint32_t edgeTime[8];
pin = DrvGPIO_GetPortBits(RX_PIN_PORTB);
mask = u32GpbStatus;
cTime = micros();
RX_PIN_CHECK(0,0);
RX_PIN_CHECK(1,1);
RX_PIN_CHECK(2,2);
RX_PIN_CHECK(3,3);
}
void GPCDCallback(uint32_t u32GpcStatus, uint32_t u32GpdStatus, uint32_t u32GpeStatus)
{
int32_t mask;
int32_t pin;
uint8_t *RX_PORT_PINS = RX_PORTC_PINS;
uint32_t cTime,dTime;
static uint32_t edgeTime[8];
pin = DrvGPIO_GetPortBits(RX_PIN_PORTC);
mask = u32GpcStatus;
cTime = micros();
RX_PIN_CHECK(0,4);
RX_PIN_CHECK(1,5);
}
#endif
void RC_PWM_Enable(char enable)
{
if(enable) {
#ifdef M451
GPIO_EnableInt(PB, 4, GPIO_INT_BOTH_EDGE);
GPIO_EnableInt(PB, 5, GPIO_INT_BOTH_EDGE);
GPIO_EnableInt(PB, 3, GPIO_INT_BOTH_EDGE);
GPIO_EnableInt(PB, 6, GPIO_INT_BOTH_EDGE);
GPIO_EnableInt(PB, 1, GPIO_INT_BOTH_EDGE);
GPIO_EnableInt(PB, 0, GPIO_INT_BOTH_EDGE);
NVIC_EnableIRQ(GPB_IRQn);
#else
DrvGPIO_EnableInt(IO_RC_D2, E_IO_BOTH_EDGE, E_MODE_EDGE);
DrvGPIO_EnableInt(IO_RC_D4, E_IO_BOTH_EDGE, E_MODE_EDGE);
DrvGPIO_EnableInt(IO_RC_D5, E_IO_BOTH_EDGE, E_MODE_EDGE);
DrvGPIO_EnableInt(IO_RC_D6, E_IO_BOTH_EDGE, E_MODE_EDGE);
DrvGPIO_EnableInt(IO_RC_D7, E_IO_BOTH_EDGE, E_MODE_EDGE);
DrvGPIO_EnableInt(IO_RC_D8, E_IO_BOTH_EDGE, E_MODE_EDGE);
#endif
}
else {
#ifdef M451
#else
DrvGPIO_DisableInt(IO_RC_D2);
DrvGPIO_DisableInt(IO_RC_D4);
DrvGPIO_DisableInt(IO_RC_D5);
DrvGPIO_DisableInt(IO_RC_D6);
DrvGPIO_DisableInt(IO_RC_D7);
DrvGPIO_DisableInt(IO_RC_D8);
#endif
}
}
void RC_PWM_Init(void)
{
SYS->GPB_MFPL &= ~(SYS_GPB_MFPL_PB4MFP_Msk | SYS_GPB_MFPL_PB5MFP_Msk | SYS_GPB_MFPL_PB6MFP_Msk | SYS_GPB_MFPL_PB7MFP_Msk);
SYS->GPB_MFPL |= (SYS_GPB_MFPL_PB7MFP_GPIO | SYS_GPB_MFPL_PB6MFP_GPIO | SYS_GPB_MFPL_PB4MFP_GPIO | SYS_GPB_MFPL_PB5MFP_GPIO);
SYS->GPD_MFPL &= ~SYS_GPD_MFPL_PD3MFP_Msk;
SYS->GPD_MFPL |= SYS_GPD_MFPL_PD3MFP_GPIO;
#ifdef M451
GPIO_SetMode(IO_RC_D2, GPIO_MODE_QUASI);
GPIO_SetMode(IO_RC_D4, GPIO_MODE_QUASI);
GPIO_SetMode(IO_RC_D5, GPIO_MODE_QUASI);
GPIO_SetMode(IO_RC_D6, GPIO_MODE_QUASI);
GPIO_SetMode(IO_RC_D7, GPIO_MODE_QUASI);
GPIO_SetMode(IO_RC_D8, GPIO_MODE_QUASI);
#else
DrvGPIO_Open(IO_RC_D2, E_IO_QUASI);
DrvGPIO_Open(IO_RC_D4, E_IO_QUASI);
DrvGPIO_Open(IO_RC_D5, E_IO_QUASI);
DrvGPIO_Open(IO_RC_D6, E_IO_QUASI);
DrvGPIO_Open(IO_RC_D7, E_IO_QUASI);
DrvGPIO_Open(IO_RC_D8, E_IO_QUASI);
DrvGPIO_SetIntCallback(GPABCallback, GPCDCallback);
#endif
rcValuePwm = getValue();
}
uint16_t readPwmRC(uint8_t chan)
{
uint16_t data;
data = rcValuePwm[rcChannelPWM[chan]];
return data;
}
bool IsPWMRCConnected()
{
if(rcValuePwm[0]<RC_MIN_CMD)
return false;
else
return true;
}
int16_t GetPWMThrust()
{
return ((readPwmRC(THR_CH) - RC_THR_MIN) + (RC_THR_HOV - RC_THR_MID));
}
int16_t GetPWMAltitude()
{
return (readPwmRC(THR_CH) - RC_THR_MID);
}